Compact Bionic Eye Device Based on Two-Degree-Of-Freedom Electromagnetically-Driven Rotating Mechanism

1. A compact bionic eye device based on a two-degree-of-freedom electromagnetically-driven rotating mechanism, being composed of a stator assembly and a rotor assembly, wherein the stator assembly comprises an outer spherical shell (2), stator cores (3), a stator connector (5), an angular displacement camera (6), a spherical hinge pressing block (9) and windings (10); and the rotor assembly comprises a camera (1), a rotor (4), a rotor connector (7), a spherical hinge (8) and a camera connector (11); four stator cores (3) are fixedly connected with the outer spherical shell (2) and uniformly distributed along the large circumference of the outer spherical shell (2); the stator connector (5) is located at the central position of the four stator cores (3) and used for connecting and fixing the four stator cores (3); the rotor connector (7), the spherical hinge (8) and the camera connector (11) form a transmission rod; the center of the spherical hinge (8) is concentric with the center of a central spherical surface of the rotor (4) and restrains the rotor assembly to rotate around a fixed-point, i.e., around the center of the central spherical surface of the rotor (4); the spherical hinge pressing block (9) and the stator connector (5) are arranged at both sides of spherical hinge (8), close to the camera and the rotor respectively; and in this way, a sphere pair is formed by the spherical hinge (8), the spherical hinge pressing block (9) and the stator connector (5).

2. The compact bionic eye device based on a two-degree-of-freedom electromagnetically-driven rotating mechanism according to claim 1, wherein the rotor (4) is of a quartered structure like a hemispherical shell; the section formed by each quadrant segment being cut by any plane with fixed axis is a sector ring; the fixed axis, in symmetry plane of a quadrant segment and its opposite one, is the only straight line parallel to the end-face circle of the rotor; a width of the sector ring of the section is 2d and d=dmax−ηdθ/θmax, wherein θ represents an included angle of a cutting surface and a symmetry surface, dmax represents half the width of the sector ring of the section when θ is equal to 0, θmax represents a maximum value of θ, and ηd is a constant that represents that the width of the sector ring of the section decreases with an increase of θ.

3. The compact bionic eye device based on a two-degree-of-freedom electromagnetically-driven rotating mechanism according to claim 1, wherein the stator cores (3), the rotor (4) and the windings (10) form four double-gap electromagnets, each stator core (3) corresponds to one quadrant segment of the rotor (4), the surface of each stator pole is parallel to the surface of the rotor; and the stator cores (3) and the rotor (4) are both made from a magnetic material.

4. The compact bionic eye device based on a two-degree-of-freedom electromagnetically-driven rotating mechanism according to claim 1, wherein every two opposite electromagnets are used to drive the rotor assembly to do a one-degree-of-freedom motion; and by regulating a current of the four windings (10), the rotor assembly can be driven to do a two-degree-of-freedom motion including positive/negative pitching and positive/negative yawing, respectively.

5. The compact bionic eye device based on a two-degree-of-freedom electromagnetically-driven rotating mechanism according to claim 1, wherein the angular displacement camera (6) is used for acquiring a feature image of the bottom of the rotor; and the acquired image can be processed to calculate an actual rotating angle, namely a yawing angle and a pitching angle of the rotor assembly.

6. The compact bionic eye device based on a two-degree-of-freedom electromagnetically-driven rotating mechanism according to claim 1, wherein the compact bionic eye device can be combined with a close-loop controller to control angle of the rotor assembly; based on difference between an actual angle and a specified one, a regulation value of the current of each winding (10) is calculated, so that the current of the windings (10) is regulated to drive the rotor assembly, and the actual angle tends to the specified one.